RT Conference Proceedings
T1 Navigability Analysis of Natural Terrains with Fuzzy Elevation Maps from Ground-based 3D Range Scans
A1 Martínez, J. L.
A1 Mandow, Anthony
A1 Reina-Terol, Antonio Jesús
A1 Cantador, Tomás J.
A1 Morales, J.
A1 García-Cerezo, Alfonso José
K1 Robótica
AB Mobile robot navigation through natural terrains is a challenging issue with applications such as planetary exploration or search and rescue. This paper proposes navigability assessment of natural terrains scanned from ground-based 3D laser rangefinders. A continuous model of the terrain is obtained as a fuzzy elevation map (FEM). Based on this model, the proposed solution incorporates terrain navigability both in terms of uncertainties of the 3D input data and slope of the fuzzy surface. Moreover, the paper discusses the application of this method for local path planning. For this purpose, the Bug algorithm has been adapted to compute local paths on the navigable region of the FEM. The method has been applied to actual 3D point clouds on two different experimental sites.
YR 2013
FD 2013
LK http://hdl.handle.net/10630/6855
UL http://hdl.handle.net/10630/6855
LA eng
NO Martínez, J. L.; Mandow, A.; Reina, A.; Cantador, T. J.; Morales, J.; García-Cerezo, A.; , "Navigability Analysis of Natural Terrains with Fuz zy Elevation Maps from Ground-based 3D Range Scans," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.1576-1581, Nov. 2013 . DOI:10.1109/IROS.2013.6696559
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.This work was partially supported by the Spanish CICYT project DPI 2011-22443 and the Andalusian project PE-2010 TEP-6101.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 19 ene 2026